/**
  ******************************************************************************
  * File Name          : main.c
  * Description        : Main program body
  ******************************************************************************
  *
  * COPYRIGHT(c) 2016 STMicroelectronics
  *
  * Redistribution and use in source and binary forms, with or without
  *modification,
  * are permitted provided that the following conditions are met:
  *   1. Redistributions of source code must retain the above copyright notice,
  *      this list of conditions and the following disclaimer.
  *   2. Redistributions in binary form must reproduce the above copyright
  *notice,
  *      this list of conditions and the following disclaimer in the
  *documentation
  *      and/or other materials provided with the distribution.
  *   3. Neither the name of STMicroelectronics nor the names of its
  *contributors
  *      may be used to endorse or promote products derived from this software
  *      without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
  *ARE
  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
  *LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
  *USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
  ******************************************************************************
  */
/* Includes ------------------------------------------------------------------*/
#include "can.h"
#include "cmsis_os.h"
#include "dma.h"
#include "gpio.h"
#include "spi.h"
#include "stm32f4xx_hal.h"
#include "tim.h"
#include "usart.h"

/* USER CODE BEGIN Includes */
#include "bsp_can.h"
#include "bsp_uart.h"
#include "calibrate.h"
#include "chassis_task.h"
#include "kb.h"
#include "pid.h"
/* USER CODE END Includes */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
void Error_Handler(void);
void MX_FREERTOS_Init(void);

/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/

/* USER CODE END PFP */

/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

int main(void)
{

    /* USER CODE BEGIN 1 */

    /* USER CODE END 1 */

    /* MCU
   * Configuration----------------------------------------------------------*/

    /* Reset of all peripherals, Initializes the Flash interface and the Systick.
   */
    HAL_Init();

    /* Configure the system clock */
    SystemClock_Config();

    /* Initialize all configured peripherals */
    MX_GPIO_Init();
    MX_DMA_Init();
    MX_CAN1_Init();
    MX_USART1_UART_Init();
    MX_SPI5_Init();
    MX_USART3_UART_Init();
    MX_USART6_UART_Init();
    MX_CAN2_Init();
    MX_TIM5_Init();
    MX_TIM2_Init();
    MX_TIM3_Init();
    MX_TIM4_Init();
    MX_TIM8_Init();
    MX_TIM12_Init();
    MX_USART2_UART_Init();

    /* USER CODE BEGIN 2 */
    dbus_init();
    judge_sys_init();
    manifold_uart_init();
    my_can_filter_init_recv_all(&hcan1);
    my_can_filter_init_recv_all(&hcan2);
    // can_filter_recv_special(&hcan1, 0 , 0x200);
    reset_zgyro();
    HAL_Delay(2000); // add , wait device stable, very very important!!!

    HAL_CAN_Receive_IT(&hcan1, CAN_FIFO0); // open can rx it
    HAL_CAN_Receive_IT(&hcan2, CAN_FIFO0);

    HAL_TIM_PWM_Start(&htim5, TIM_CHANNEL_1); // dont know
    HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2); // imu heat pwm
    HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1); // beep
    HAL_TIM_PWM_Start(&htim12, TIM_CHANNEL_1); // friction wheel
    HAL_TIM_PWM_Start(&htim12, TIM_CHANNEL_2);

    AppParamInit();
    AppParamReadFromFlash();
    /* USER CODE END 2 */

    /* Call init function for freertos objects (in freertos.c) */
    MX_FREERTOS_Init();

    /* Start scheduler */
    osKernelStart();

    /* We should never get here as control is now taken by the scheduler */

    /* Infinite loop */
    /* USER CODE BEGIN WHILE */
    while (1)
    {
        /* USER CODE END WHILE */

        /* USER CODE BEGIN 3 */
    }
    /* USER CODE END 3 */
}

/** System Clock Configuration
*/
void SystemClock_Config(void)
{

    RCC_OscInitTypeDef RCC_OscInitStruct;
    RCC_ClkInitTypeDef RCC_ClkInitStruct;

    __HAL_RCC_PWR_CLK_ENABLE();

    __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
    RCC_OscInitStruct.HSEState       = RCC_HSE_ON;
    RCC_OscInitStruct.PLL.PLLState   = RCC_PLL_ON;
    RCC_OscInitStruct.PLL.PLLSource  = RCC_PLLSOURCE_HSE;
    RCC_OscInitStruct.PLL.PLLM       = 6;
    RCC_OscInitStruct.PLL.PLLN       = 180;
    RCC_OscInitStruct.PLL.PLLP       = RCC_PLLP_DIV2;
    RCC_OscInitStruct.PLL.PLLQ       = 4;
    if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
    {
        Error_Handler();
    }

    if (HAL_PWREx_EnableOverDrive() != HAL_OK)
    {
        Error_Handler();
    }

    RCC_ClkInitStruct.ClockType      = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
    RCC_ClkInitStruct.SYSCLKSource   = RCC_SYSCLKSOURCE_PLLCLK;
    RCC_ClkInitStruct.AHBCLKDivider  = RCC_SYSCLK_DIV1;
    RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
    RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
    if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
    {
        Error_Handler();
    }

    HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq() / 1000);

    HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);

    /* SysTick_IRQn interrupt configuration */
    HAL_NVIC_SetPriority(SysTick_IRQn, 15, 0);
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  Period elapsed callback in non blocking mode
  * @note   This function is called  when TIM6 interrupt took place, inside
  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
  * a global variable "uwTick" used as application time base.
  * @param  htim : TIM handle
  * @retval None
  */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef* htim)
{
    /* USER CODE BEGIN Callback 0 */

    /* USER CODE END Callback 0 */
    if (htim->Instance == TIM6)
    {
        HAL_IncTick();
    }
    /* USER CODE BEGIN Callback 1 */

    /* USER CODE END Callback 1 */
}

/**
  * @brief  This function is executed in case of error occurrence.
  * @param  None
  * @retval None
  */
void Error_Handler(void)
{
    /* USER CODE BEGIN Error_Handler */
    /* User can add his own implementation to report the HAL error return state */
    while (1)
    {
    }
    /* USER CODE END Error_Handler */
}

#ifdef USE_FULL_ASSERT

/**
   * @brief Reports the name of the source file and the source line number
   * where the assert_param error has occurred.
   * @param file: pointer to the source file name
   * @param line: assert_param error line source number
   * @retval None
   */
void assert_failed(uint8_t* file, uint32_t line)
{
    /* USER CODE BEGIN 6 */
    /* User can add his own implementation to report the file name and line
  number,
  ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
    /* USER CODE END 6 */
}

#endif

/**
  * @}
  */

/**
  * @}
*/

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
